- Configuring LinuxCNC
- Advanced Configuration
- EtherCAT
- Ethercat with EL6751 CanOpen Master and JAT Servo Drives
Ethercat with EL6751 CanOpen Master and JAT Servo Drives
06 Feb 2020 10:13 #156621
by JimPanski
Hi Forum,
I have an ongoing Setup with Beckhoff Ethercat components and CanOpen Servodrives.
For the first steps I am using only the BK1100 with an EL6751 and one drive attached.
I already set this up in Twincat 3.1.
Now my problem is to export the xml description in twincat for using it on the linuxcnc ethercat-config xml file.
Can anybody lead me a way to do this?
Thanks in advance!
Conny
I have an ongoing Setup with Beckhoff Ethercat components and CanOpen Servodrives.
For the first steps I am using only the BK1100 with an EL6751 and one drive attached.
I already set this up in Twincat 3.1.
Now my problem is to export the xml description in twincat for using it on the linuxcnc ethercat-config xml file.
Can anybody lead me a way to do this?
Thanks in advance!
Conny
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09 Feb 2020 17:55 #156898
by chimeno
Replied by chimeno on topic Ethercat with EL6751 CanOpen Master and JAT Servo Drives
Hi @JimPanski
This device is not configured in linuxcnc-ethercat, you will have to create using the generic one, I will attach a configuration finalizing EL6751, first you have to send the configuration and then load the PDOs, I hope it helps you.
regards
Chimeno
This device is not configured in linuxcnc-ethercat, you will have to create using the generic one, I will attach a configuration finalizing EL6751, first you have to send the configuration and then load the PDOs, I hope it helps you.
regards
Chimeno
The following user(s) said Thank You: JimPanski
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10 Feb 2020 16:02 - 10 Feb 2020 17:37 #156965
by JimPanski
Replied by JimPanski on topic Ethercat with EL6751 CanOpen Master and JAT Servo Drives
Hello Chimeno,
first of all thank you very much for your post!
Unfortunately with this config the el6751 stays in preop.
Dmesg says: "sdo download 0x8003 aborted" subindex doesnt exist.
It seems that the config you posted is this one mr. brosette uses with those berger lahr type of drives.
My problem is in general how i can set those sdos up the right way because in my twincan setup i can communicate with my drive.
I attached the needed sdos in this .pdf file. Maybe this can help you make me the setup of the ethercat-config.xml understandable
if you need more input i can also search in the documents for this drive.
Thank you!
Conny
first of all thank you very much for your post!
Unfortunately with this config the el6751 stays in preop.
Dmesg says: "sdo download 0x8003 aborted" subindex doesnt exist.
It seems that the config you posted is this one mr. brosette uses with those berger lahr type of drives.
My problem is in general how i can set those sdos up the right way because in my twincan setup i can communicate with my drive.
I attached the needed sdos in this .pdf file. Maybe this can help you make me the setup of the ethercat-config.xml understandable
if you need more input i can also search in the documents for this drive.
Thank you!
Conny
Attachments:
Last edit: 10 Feb 2020 17:37 by JimPanski. Reason: attachment corrected
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11 Feb 2020 19:05 #157092
by chimeno
Replied by chimeno on topic Ethercat with EL6751 CanOpen Master and JAT Servo Drives
Hi @JimPanski
can you pass me the TWINCAT3 project to see if I can help you?
regards
Chimeno
can you pass me the TWINCAT3 project to see if I can help you?
regards
Chimeno
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12 Feb 2020 10:35 #157151
by JimPanski
Replied by JimPanski on topic Ethercat with EL6751 CanOpen Master and JAT Servo Drives
Hi Chimeno,
i hope the attached archive works for you. This is the archive of my basic setup in Twincat.
Thank you for your help!
Greetings
Conny
i hope the attached archive works for you. This is the archive of my basic setup in Twincat.
Thank you for your help!
Greetings
Conny
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13 Feb 2020 20:41 - 13 Feb 2020 20:44 #157318
by chimeno
Replied by chimeno on topic Ethercat with EL6751 CanOpen Master and JAT Servo Drives
Hi @JimPanski
thanks for providing the configuration, I attached a new file with the proportionate configuration, it is not complete but if there is any progress, I do not have the device and it is difficult to prove it.
Greeting
Chimeno
thanks for providing the configuration, I attached a new file with the proportionate configuration, it is not complete but if there is any progress, I do not have the device and it is difficult to prove it.
Greeting
Chimeno
Last edit: 13 Feb 2020 20:44 by chimeno.
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19 Feb 2020 21:55 - 19 Feb 2020 21:56 #157901
by JimPanski
Replied by JimPanski on topic Ethercat with EL6751 CanOpen Master and JAT Servo Drives
Hi Chimeno,
finally I got time for testing:
this happens when i start it with the config file attached.
The only different from yours: This config file has only the 2 0x28FF set to the right values like i posted it before. (the win Twincat wont run with standard 1ms synchtime of the servo drive)
Sadly with your .xml File i also had no luck:
In the meantime i think I got a better overview in Twincat, so that I could finally find the COE Startup SDOs which were used in the config xml file.
Do you have any further hints for me?
Thank you for your help!
Greetings
Conny
finally I got time for testing:
Warning: Spoiler!
[26338.866289] EtherCAT ERROR 0-1: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[26338.870305] EtherCAT ERROR 0-1: AL status message 0x001E: "Invalid input configuration".
[26338.878321] EtherCAT 0-1: Acknowledged state PREOP.
[26338.882332] EtherCAT 0: Slave states on main device: PREOP, OP.
[26339.861153] EtherCAT 0: Domain 0: Working counter changed to 0/3
[26339.861154] .
[26385.002571] EtherCAT 0: Master thread exited.
[26385.002581] EtherCAT 0: Starting EtherCAT-IDLE thread.
[26385.002617] EtherCAT ERROR 0-0: Failed to receive AL state datagram:
[26385.002620] Datagram
[26385.002621] initialized
[26385.002622] .
[26385.002628] EtherCAT 0: Releasing master...
[26385.003200] EtherCAT 0: Released.
[26385.119901] EtherCAT 0: Slave states on main device: PREOP.
[26385.294546] EtherCAT WARNING: Datagram ffff8a6374aaa678 (master-fsm) was SKIPPED 1 time.
[26426.248972] EtherCAT: Requesting master 0...
[26426.248975] EtherCAT: Successfully requested master 0.
[26426.249103] EtherCAT 0: Domain0: Logical address 0x00000000, 7 byte, expected working counter 3.
[26426.249104] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 7 byte, type LRW.
[26426.252131] EtherCAT 0: Master thread exited.
[26426.252134] EtherCAT 0: Starting EtherCAT-OP thread.
[26426.252163] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[26426.584824] EtherCAT WARNING 0-1: Slave does not support changing the PDO mapping!
[26426.584826] EtherCAT WARNING 0-1:
[26426.584827] Currently mapped PDO entries:
[26426.584828] (none)
[26426.584828] . Entries to map:
[26426.584829] 0x7000:01/16
[26426.584831] EtherCAT WARNING 0-1: Slave does not support assigning PDOs!
[26426.584832] EtherCAT WARNING 0-1:
[26426.584832] Currently assigned PDOs:
[26426.584833] (none)
[26426.584833] . PDOs to assign:
[26426.584834] 0x1600
[26426.596856] EtherCAT WARNING 0-1: Slave does not support changing the PDO mapping!
[26426.596857] EtherCAT WARNING 0-1:
[26426.596858] Currently mapped PDO entries:
[26426.596858] (none)
[26426.596859] . Entries to map:
[26426.596860] 0x6000:01/16
[26426.608880] EtherCAT WARNING 0-1: Slave does not support changing the PDO mapping!
[26426.608881] EtherCAT WARNING 0-1:
[26426.608881] Currently mapped PDO entries:
[26426.608882] (none)
[26426.608882] . Entries to map:
[26426.608883] 0xA000:01/8
[26426.608884]
[26426.608884] 0xF100:01/8
[26426.608885]
[26426.608885] 0xF100:03/1
[26426.608886]
[26426.608886] 0xF100:05/1
[26426.608887]
[26426.608887] 0xF100:04/1
[26426.608888]
[26426.608888] 0xF100:02/1
[26426.608889]
[26426.608889] 0xA000:02/1
[26426.608890] EtherCAT WARNING 0-1: Slave does not support assigning PDOs!
[26426.608891] EtherCAT WARNING 0-1:
[26426.608891] Currently assigned PDOs:
[26426.608892] (none)
[26426.608892] . PDOs to assign:
[26426.608893] 0x1A00
[26426.608893]
[26426.608893] 0x1A80
[26426.615562] EtherCAT 0: Domain 0: Working counter changed to 2/3
[26426.615563] .
[26426.624924] EtherCAT ERROR 0-1: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[26426.628937] EtherCAT ERROR 0-1: AL status message 0x001E: "Invalid input configuration".
[26426.636965] EtherCAT 0-1: Acknowledged state PREOP.
[26426.640979] EtherCAT 0: Slave states on main device: PREOP, OP.
[26427.619539] EtherCAT 0: Domain 0: Working counter changed to 0/3
[26338.870305] EtherCAT ERROR 0-1: AL status message 0x001E: "Invalid input configuration".
[26338.878321] EtherCAT 0-1: Acknowledged state PREOP.
[26338.882332] EtherCAT 0: Slave states on main device: PREOP, OP.
[26339.861153] EtherCAT 0: Domain 0: Working counter changed to 0/3
[26339.861154] .
[26385.002571] EtherCAT 0: Master thread exited.
[26385.002581] EtherCAT 0: Starting EtherCAT-IDLE thread.
[26385.002617] EtherCAT ERROR 0-0: Failed to receive AL state datagram:
[26385.002620] Datagram
[26385.002621] initialized
[26385.002622] .
[26385.002628] EtherCAT 0: Releasing master...
[26385.003200] EtherCAT 0: Released.
[26385.119901] EtherCAT 0: Slave states on main device: PREOP.
[26385.294546] EtherCAT WARNING: Datagram ffff8a6374aaa678 (master-fsm) was SKIPPED 1 time.
[26426.248972] EtherCAT: Requesting master 0...
[26426.248975] EtherCAT: Successfully requested master 0.
[26426.249103] EtherCAT 0: Domain0: Logical address 0x00000000, 7 byte, expected working counter 3.
[26426.249104] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 7 byte, type LRW.
[26426.252131] EtherCAT 0: Master thread exited.
[26426.252134] EtherCAT 0: Starting EtherCAT-OP thread.
[26426.252163] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[26426.584824] EtherCAT WARNING 0-1: Slave does not support changing the PDO mapping!
[26426.584826] EtherCAT WARNING 0-1:
[26426.584827] Currently mapped PDO entries:
[26426.584828] (none)
[26426.584828] . Entries to map:
[26426.584829] 0x7000:01/16
[26426.584831] EtherCAT WARNING 0-1: Slave does not support assigning PDOs!
[26426.584832] EtherCAT WARNING 0-1:
[26426.584832] Currently assigned PDOs:
[26426.584833] (none)
[26426.584833] . PDOs to assign:
[26426.584834] 0x1600
[26426.596856] EtherCAT WARNING 0-1: Slave does not support changing the PDO mapping!
[26426.596857] EtherCAT WARNING 0-1:
[26426.596858] Currently mapped PDO entries:
[26426.596858] (none)
[26426.596859] . Entries to map:
[26426.596860] 0x6000:01/16
[26426.608880] EtherCAT WARNING 0-1: Slave does not support changing the PDO mapping!
[26426.608881] EtherCAT WARNING 0-1:
[26426.608881] Currently mapped PDO entries:
[26426.608882] (none)
[26426.608882] . Entries to map:
[26426.608883] 0xA000:01/8
[26426.608884]
[26426.608884] 0xF100:01/8
[26426.608885]
[26426.608885] 0xF100:03/1
[26426.608886]
[26426.608886] 0xF100:05/1
[26426.608887]
[26426.608887] 0xF100:04/1
[26426.608888]
[26426.608888] 0xF100:02/1
[26426.608889]
[26426.608889] 0xA000:02/1
[26426.608890] EtherCAT WARNING 0-1: Slave does not support assigning PDOs!
[26426.608891] EtherCAT WARNING 0-1:
[26426.608891] Currently assigned PDOs:
[26426.608892] (none)
[26426.608892] . PDOs to assign:
[26426.608893] 0x1A00
[26426.608893]
[26426.608893] 0x1A80
[26426.615562] EtherCAT 0: Domain 0: Working counter changed to 2/3
[26426.615563] .
[26426.624924] EtherCAT ERROR 0-1: Failed to set SAFEOP state, slave refused state change (PREOP + ERROR).
[26426.628937] EtherCAT ERROR 0-1: AL status message 0x001E: "Invalid input configuration".
[26426.636965] EtherCAT 0-1: Acknowledged state PREOP.
[26426.640979] EtherCAT 0: Slave states on main device: PREOP, OP.
[26427.619539] EtherCAT 0: Domain 0: Working counter changed to 0/3
this happens when i start it with the config file attached.
The only different from yours: This config file has only the 2 0x28FF set to the right values like i posted it before. (the win Twincat wont run with standard 1ms synchtime of the servo drive)
Sadly with your .xml File i also had no luck:
Warning: Spoiler!
[27501.146205] EtherCAT: Requesting master 0...
[27501.146208] EtherCAT: Successfully requested master 0.
[27501.146353] EtherCAT 0: Domain0: Logical address 0x00000000, 7 byte, expected working counter 3.
[27501.146355] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 7 byte, type LRW.
[27501.150380] EtherCAT 0: Master thread exited.
[27501.150383] EtherCAT 0: Starting EtherCAT-OP thread.
[27501.150465] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[27501.471524] EtherCAT ERROR 0-1: SDO download 0x8003 (151 bytes) aborted.
[27501.471529] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist".
[27501.471531] EtherCAT ERROR 0-1: SDO configuration failed.
[27501.475541] EtherCAT 0: Slave states on main device: PREOP, OP.
[27501.146208] EtherCAT: Successfully requested master 0.
[27501.146353] EtherCAT 0: Domain0: Logical address 0x00000000, 7 byte, expected working counter 3.
[27501.146355] EtherCAT 0: Datagram domain0-0-main: Logical offset 0x00000000, 7 byte, type LRW.
[27501.150380] EtherCAT 0: Master thread exited.
[27501.150383] EtherCAT 0: Starting EtherCAT-OP thread.
[27501.150465] EtherCAT WARNING 0: 1 datagram UNMATCHED!
[27501.471524] EtherCAT ERROR 0-1: SDO download 0x8003 (151 bytes) aborted.
[27501.471529] EtherCAT ERROR 0-1: SDO abort message 0x06090011: "Subindex does not exist".
[27501.471531] EtherCAT ERROR 0-1: SDO configuration failed.
[27501.475541] EtherCAT 0: Slave states on main device: PREOP, OP.
In the meantime i think I got a better overview in Twincat, so that I could finally find the COE Startup SDOs which were used in the config xml file.
Do you have any further hints for me?
Thank you for your help!
Greetings
Conny
Last edit: 19 Feb 2020 21:56 by JimPanski.
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28 Feb 2020 10:44 #158739
by JimPanski
Replied by JimPanski on topic Ethercat with EL6751 CanOpen Master and JAT Servo Drives
Hi Chimeno,
Do you happen to have the such a EL6751 device available? I am asking because I am not getting any furher because I dont know what else i can also try.
So far I could find that "plopes9000" had likely the same issue (seen here at the ethercat thread ) but sadly no solution was posted
Greetings
Conny
Do you happen to have the such a EL6751 device available? I am asking because I am not getting any furher because I dont know what else i can also try.
So far I could find that "plopes9000" had likely the same issue (seen here at the ethercat thread ) but sadly no solution was posted
Greetings
Conny
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29 Feb 2020 14:16 - 29 Feb 2020 14:16 #158811
by chimeno
Replied by chimeno on topic Ethercat with EL6751 CanOpen Master and JAT Servo Drives
Hi @Conny,
regards
Chimeno
I do not have this device, I never use it, I can not help you much about this, although you can try to scan through the WIRESHARK program the data transmission that TWINCAT performs and see what is happening and replicate it in Linux, you can also publish it and look at it.Do you happen to have the such a EL6751 device available?
regards
Chimeno
Last edit: 29 Feb 2020 14:16 by chimeno.
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02 Mar 2020 07:55 #158948
by JimPanski
Replied by JimPanski on topic Ethercat with EL6751 CanOpen Master and JAT Servo Drives
Hi Chimeno,
thanks for your offer. I will try to wireshark asap.
Do you think that may help If you have such a EL6751 and maybe one servo drive at hand? If you are interested I can provide both devices to you.
In the meantime I hope I can reach to plopes and try to get some hints.
Thank you very much!
regards
Conny
thanks for your offer. I will try to wireshark asap.
Do you think that may help If you have such a EL6751 and maybe one servo drive at hand? If you are interested I can provide both devices to you.
In the meantime I hope I can reach to plopes and try to get some hints.
Thank you very much!
regards
Conny
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- Configuring LinuxCNC
- Advanced Configuration
- EtherCAT
- Ethercat with EL6751 CanOpen Master and JAT Servo Drives
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